#!/usr/bin/python3
import rospy
import tf2_ros
from geometry_msgs.msg import Twist
from yolo_pkg.msg import Yolo
from drone_pkg.msg import QRCode
import math
import tf
from drone_pkg.msg import SendString
from sensor_msgs.msg import Range
import serial
from drone_pkg.srv import *
import time
from drone_pkg.msg import Temperature
import os




            
#控制类
class RobotController:
    def __init__(self):

        ####定义常量####
        self.MAX_LINEAR_SPEED =  35             #最大线速度，单位 cm/s
        self.MAX_ANGULAR_SPEED = 15             #最大角速度,单位 度/s

        self.KP_LINEAR_SPEED_POINT = 0.67        #坐标模式线速度KP
        self.KP_LINEAR_SPEED_DETECT = 0.03      #识别模式线速度KP
        self.KP_ANGULAR_SPEED = 0               #角速度环KP

        self.KP_Z_SPEED = 1
        self.MAX_Z_SPEED = 40

        self.MIN_ERROR_XY_POINT = 5             #坐标模式XY方向允许的最小误差，单位 cm
        self.MIN_ERROR_XY_DETECT = 50         #识别模式XY方向允许的最小误差，单位 像素
        self.MIN_ERROR_YAW = 25                 #YAW上最小角度误差，单位 度、


        self.Kuan = 10.8


        ####定义变量####

        #目标变量
        self.targetPointX = 0                   #目标坐标：X，单位 cm
        self.targetPointY = 0                   #目标坐标：Y，单位 cm
        self.targetPointZ = 0                   #目标坐标：Z，单位 cm
        self.targetDetectX = 320                #识别模式X方向目标像素 单位 像素
        self.targetDetectY = 240                #识别模式Y方向目标像素 单位 像素
        self.targetDetectZ = 0                  #识别模式Z方向目标像素 单位 像素
        self.targetYaw = 0                      #目标角度YAW， 单位度
        self.targetNum = 8                      #目标数字
        self.targetHeight = 75                  #目标高度

        #中间变量
        self.distanceXY = 0                     #坐标模式距离目标点距离，单位 cm
        self.errorPointX = 0                    #坐标模式X方向偏差像素值，单位 cm
        self.errorPointY = 0                    #坐标模式Y方向偏差像素值，单位 cm
        self.errorPointZ = 0                    #坐标模式Z方向偏差像素值，单位 cm
        self.errorDetectX = 0                   #识别模式X方向偏差像素值，单位 像素
        self.errorDetectY = 0                   #识别模式Y方向偏差像素值，单位 像素
        self.errorDetectZ = 0                   #识别模式Z方向偏差像素值，单位 像素
        self.actualPositionX = 0                #实际位置x
        self.actualPositionY = 0                #实际位置y  
        self.actualPositionZ = 0                #实际位置z
        self.actualPositionYaw = 0              #实际位置YAW
        self.detectX = 0                        #识别到数字中心X坐标
        self.detectY = 0                        #识别到数字中心Y坐标
        self.detectZ = 0                        #识别到数字中心Z坐标
        self.errorYaw = 0                       #Yaw方向误差值，单位 度
        self.cosTheta = 0                       #目标坐标角度余弦值
        self.sinTheta = 0                       #目标坐标角度正弦值
        self.startTime_Laser = 0                #激光开启时间
        self.presentTime_Laser = 0              #激光当前时间
        self.startTime_Delay = 0                #延时开启时间
        self.presentTime_Delay = 0              #延时当前时间
        self.startTime_Laser = 0                #激光开启时间
        self.presentTime_Laser = 0              #激光当前时间
        self.startTime_Height = 0               #高度变换开启时间
        self.presentTime_Height = 0             #高度变换当前时间
        

        #结果变量
        self.resultLinearSpeedXY = 0            #计算输出XY合速度
        self.resultLinearSpeedX = 0             #计算输出X方向速度
        self.resultLinearSpeedY = 0             #计算输出Y方向速度
        self.resultLinearSpeedZ = 0             #计算输出Z方向速度
        self.resultAngularSpeedYaw = 0          #计算输出Yaw方向角速度
        


        #状态变量
        self.flagMovePoint = 0                  #坐标飞行标志
        self.flagdetect = 0                     #目标点对应的flag
        self.mode = 0                           #飞行模式
        self.detectNum = -1                     #识别到的数字
        self.flagLaser = 0                      #激光灯状态变量，0为关闭， 1为开启
        self.flagDelay = 0                      #延时的状态
        self.flagHeight = 0                     #高度变化的状态
        self.flagland = 0                       #降落状态
        self.flagfly = 0                        #起飞状态

        #二维码相关变量
        self.CamID = -1                         #相机编号
        self.QRCodeCount = 0                    #识别二维码计数
        self.QRNum = [-1]*10
        self.QRX = [-1] * 10
        self.QRY = [-1] * 10
        self.QR_Laser_flag = 0                  #激光+二维码状态
        self.Detect_Cam = 1                     #目标使用的相机编号
        self.qr_codes_array = []
        self.last_code = -1
        self.qr_timeOut = 10                    #超时时间
        self.findQrcode_State = 0               #二维码状态
        self.time_qrcode = 0                    #二维码时间
        self.target_qr_num = -1

        self.judge_QR = 0

        self.find_allQrcode = 0

        self.Time_0 = 0
        self.Time = 0
        self.sleep_Time0 = 0
        self.sleep_Time = 120
       
        self.stringMax = ""
        self.stringMin = ""
        self.min_data = -1
        self.max_data = -1
    
        self.mid = -1
        

        self.findwhite = 0
        self.white_x = 0
        self.white_y = 0
        self.qr_temp = [0] * 10
        self.max_temperature = 0
        self.qrnum1temp = 0
        self.qrnum2temp = 0
        self.qrnum3temp = 0
        self.findmax = 0

        self.sendflag = 0

        self.yellow_x = 0
        self.yellow_y = 0
        self.yellow_T = 0
        self.yellow_flag = 0
        self.yellow_detect = 0

        self.green_x = 0
        self.green_y = 0
        self.green_T = 0
        self.green_flag = 0
        self.green_detect = 0

        self.high_x = 0
        self.high_y = 0

        self.temp_flag = 0


        #初始化ROS节点
        rospy.init_node('control', anonymous=True)
        self.rate = rospy.Rate(50)
        rospy.on_shutdown(self.Shutdown)
        #初始化速度话题发布器
        self.vel_msg = Twist()
        self.pubSpeed = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
        #初始化字符串控制话题发布器
        self.sendstr_msg = SendString()
        self.pubString = rospy.Publisher('/Laser', SendString, queue_size=10)
        #初始化串口1
        #蓝牙
        
        self.ser_bluetooth = serial.Serial("/dev/ttyS6", 115200)
        #辅控
        self.ser_fukong = serial.Serial('/dev/ttyS3', 115200)
        #初始化TF缓存
        self.tf_buffer = tf2_ros.Buffer()
        tf2_ros.TransformListener(self.tf_buffer)
        rospy.loginfo("Listening for TF data...")

        self.sub_QRCode = rospy.Subscriber("/QRCode_detect", QRCode, self.QRCode_Callback, queue_size=10)

        #订阅高度数据
        self.sub_height = rospy.Subscriber("/anoros_dt/ano_alt", Range, self.Height_callback, queue_size=10)
        #初始化服务节点
        self.time_server = rospy.Service("Start_Time", Start_time, self.Time_req)

        self.Servo_control(0)
        
        self.sub_temperature = rospy.Subscriber('/temperature', Temperature, self.temperature_callback, queue_size=10) 



        rospy.Timer(rospy.Duration(1), self.timer_1s_callback)
        os.system('gpio mode 10 out')
        os.system('gpio mode 13 out')
        os.system('gpio write 10 0')
        os.system('gpio write 13 0')

        

    def Servo_control(self, num=0):
        buf = '@' + str(num) + '\r\n'
        self.ser_fukong.write(buf.encode())
        

    #计算坐标模式速度
    def calculate_point_speed(self):

        
        #计算距离
        self.distanceXY = math.sqrt(self.errorPointX * self.errorPointX + self.errorPointY * self.errorPointY)

        #计算合速度大小
        self.resultLinearSpeedXY = self.KP_LINEAR_SPEED_POINT * self.distanceXY 
        self.resultLinearSpeedXY = max(min(self.resultLinearSpeedXY, self.MAX_LINEAR_SPEED), -self.MAX_LINEAR_SPEED)

        #计算三角函数
        if self.distanceXY != 0:
            self.cosTheta = self.errorPointX / (self.distanceXY)
            self.sinTheta = self.errorPointY / (self.distanceXY)


        #计算输出速度
        self.resultLinearSpeedX = self.resultLinearSpeedXY * self.cosTheta
        self.resultLinearSpeedY = self.resultLinearSpeedXY * self.sinTheta
        self.resultAngularSpeedYaw = self.KP_ANGULAR_SPEED * self.errorYaw

        self.resultLinearSpeedZ = self.KP_Z_SPEED * self.errorPointZ
        
        #速度限幅
        self.resultAngularSpeedYaw = max(min(self.resultAngularSpeedYaw, self.MAX_ANGULAR_SPEED), -self.MAX_ANGULAR_SPEED)
        self.resultLinearSpeedZ = max(min(self.resultLinearSpeedZ, self.MAX_Z_SPEED), -self.MAX_Z_SPEED)
        
    
    #计算识别模式速度
    def calculate_detect_speed(self, ID=1, target_z=120):
        
        #计算误差像素
        if (ID == 0):
            self.errorDetectY = -(self.targetDetectX - self.detectX)
        elif (ID == 1):
            self.errorDetectY = -(self.targetDetectX - self.detectX)
        self.errorDetectX = -(self.targetDetectY - self.detectY)


        

        #self.errorDetectZ = (self.targetDetectZ - self.detectZ)
        #计算识别后速度
        self.resultLinearSpeedY = self.errorDetectX * self.KP_LINEAR_SPEED_DETECT
        self.resultLinearSpeedX = self.errorDetectY * self.KP_LINEAR_SPEED_DETECT
        #self.resultLinearSpeedZ = self.errorDetectZ * self.KP_LINEAR_SPEED_DETECT
        #计算限速
        self.resultLinearSpeedX = max(min(self.resultLinearSpeedX, self.MAX_LINEAR_SPEED), -self.MAX_LINEAR_SPEED)
        self.resultLinearSpeedY = max(min(self.resultLinearSpeedY, self.MAX_LINEAR_SPEED), -self.MAX_LINEAR_SPEED)
        #self.resultLinearSpeedZ = max(min(self.resultLinearSpeedZ, self.MAX_LINEAR_SPEED), -self.MAX_LINEAR_SPEED)
        self.errorPointZ = target_z - self.actualPositionZ
        self.resultLinearSpeedZ = self.KP_Z_SPEED * self.errorPointZ
        self.resultLinearSpeedZ = max(min(self.resultLinearSpeedZ, self.MAX_Z_SPEED), -self.MAX_Z_SPEED)

     #判断是否到达识别中心
    def judge_detect(self):
        self.errorDetectY = -(self.targetDetectX - self.detectX)
        self.errorDetectX = -(self.targetDetectY - self.detectY)
        return (self.mode and abs(self.errorDetectX) <= self.MIN_ERROR_XY_DETECT and abs(self.errorDetectY) <= self.MIN_ERROR_XY_DETECT )
            
    
    def Height_callback(self, alt):
        self.actualPositionZ = alt.range * 100
        #rospy.loginfo("Height:%f", self.actualPositionZ)
        
    def temperature_callback(self, msg):
        self.max_temperature = msg.max
        


    def QRCode_Callback(self, Qrcode):
        if self.yellow_flag == 0 and self.yellow_detect == 1 and int(Qrcode.Data) == 1:
            self.temp_flag = self.flagMovePoint
            self.yellow_flag = 1
            self.detectX = Qrcode.x + Qrcode.Width // 2
            self.detectY = Qrcode.y + Qrcode.Height // 2
            try:
                #transform = self.tf_buffer.lookup_transform('map', 'laser_frame', rospy.Time(0))
                transform = self.tf_buffer.lookup_transform('odom', 'laser', rospy.Time(0))
                # 提取位姿数据
                translation = transform.transform.translation
                rotation = transform.transform.rotation

                # 四元数转换为欧拉角
                _, _, yaw = tf.transformations.euler_from_quaternion(
                                (rotation.x, rotation.y, rotation.z, rotation.w))
                self.actualPositionYaw = yaw * 180 / math.pi

                # 获取当前坐标（单位：cm）
                self.actualPositionX = translation.x * 100
                self.actualPositionY = translation.y * 100
            except:
                pass
            dx = (self.detectX - 240) * 0.4685
            dy = -(self.detectY - 320) * 0.4685       
            self.yellow_x = self.actualPositionX + dx
            self.yellow_y = self.actualPositionY + dy
            self.flagMovePoint = 2000 
            self.green_detect = 0

        if self.green_flag == 0 and self.green_detect == 1 and int(Qrcode.Data) == 2:
            self.temp_flag = self.flagMovePoint
            self.green_flag = 1
            self.detectX = Qrcode.x + Qrcode.Width // 2
            self.detectY = Qrcode.y + Qrcode.Height // 2
            try:
                #transform = self.tf_buffer.lookup_transform('map', 'laser_frame', rospy.Time(0))
                transform = self.tf_buffer.lookup_transform('odom', 'laser', rospy.Time(0))
                # 提取位姿数据
                translation = transform.transform.translation
                rotation = transform.transform.rotation

                # 四元数转换为欧拉角
                _, _, yaw = tf.transformations.euler_from_quaternion(
                                (rotation.x, rotation.y, rotation.z, rotation.w))
                self.actualPositionYaw = yaw * 180 / math.pi

                # 获取当前坐标（单位：cm）
                self.actualPositionX = translation.x * 100
                self.actualPositionY = translation.y * 100
            except:
                pass
            dx = (self.detectX - 240) * 0.4685
            dy = -(self.detectY - 320) * 0.4685       
            self.green_x = self.actualPositionX + dx
            self.green_y = self.actualPositionY + dy
            self.flagMovePoint = 3000 
            self.yellow_detect = 0

    def Time_req(self, req):
        if (req.state1 == 1):
            print("resive")
            self.Time_0 = rospy.get_time()
            resp = Start_timeResponse(1)
            return resp
        else:
            resp = Start_timeResponse(0)
            return resp
        
    def QRCode_Detect(self, Cam_ID):
        #rospy.loginfo("1111111111")
        if self.CamID == Cam_ID:     
            if (not self.detectNum in self.QRNum):
                self.QRNum[self.QRCodeCount] = self.detectNum
                
            #如果和上一个检测到的二维码不同
            # if self.detectNum != self.last_code:
                #执行一次操作
                # self.last_code = self.detectNum
                self.QRCodeCount += 1
                self.findQrcode_State = 0#处理完
                # self.time_qrcode = 0



            


    #坐标移动,更改目标坐标点
    #返回为真代表已经到达目的地
    def move(self, x, y, z, yaw=0, ignore_z = 0, ignore_xy=0):
        x_act, y_act, yaw_act = self.actualPositionX, self.actualPositionY, self.actualPositionYaw
        z_act = self.actualPositionZ
        self.targetPointX = x
        self.targetPointY = y
        self.targetPointZ = z
        self.targetYaw = yaw
        self.errorPointX = self.targetPointX - x_act   
        self.errorPointY = self.targetPointY - y_act
        self.errorPointZ = self.targetPointZ - z_act
        self.errorYaw = self.targetYaw - yaw_act
        if ignore_z == 1:
            return (abs(self.errorPointX) <= self.MIN_ERROR_XY_POINT + 6 and
                abs(self.errorPointY) <= self.MIN_ERROR_XY_POINT + 6 and
                abs(self.errorYaw) <= self.MIN_ERROR_YAW and
                abs(self.errorPointZ) <= 10)
            
        if ignore_xy == 1:
            return (abs(self.errorPointX) <= self.MIN_ERROR_XY_POINT + 15 and
                abs(self.errorPointY) <= self.MIN_ERROR_XY_POINT + 15 and
                abs(self.errorYaw) <= self.MIN_ERROR_XY_POINT and
                abs(self.errorPointZ) <= self.MIN_ERROR_XY_POINT)
        else:
            return (abs(self.errorPointX) <= self.MIN_ERROR_XY_POINT and
                    abs(self.errorPointY) <= self.MIN_ERROR_XY_POINT and
                    abs(self.errorYaw) <= self.MIN_ERROR_YAW and
                    abs(self.errorPointZ) <= self.MIN_ERROR_XY_POINT)
            
    
            


    #判断是否到达目的地
    def judge_point(self):
        return (abs(self.errorPointX) <= self.MIN_ERROR_XY_POINT and
                abs(self.errorPointY) <= self.MIN_ERROR_XY_POINT and
                abs(self.errorYaw) <= self.MIN_ERROR_YAW and
                abs(self.errorPointZ) <= self.MIN_ERROR_XY_POINT)
        
   
    def Delay(self, time):
        if self.flagDelay == 0:
            self.flagDelay = 1
            self.startTime_Delay = rospy.get_time()
            self.resultLinearSpeedX = 0
            self.resultLinearSpeedY = 0
            self.resultLinearSpeedZ = 0
            self.mode = -1
            return 0
        elif self.flagDelay == 1:
            self.presentTime_Delay = rospy.get_time()
            rospy.loginfo("WAITING... Time remaining: %.2f" % (time - (self.presentTime_Delay - self.startTime_Laser)))
            if (self.presentTime_Delay - self.startTime_Delay >= time):
                rospy.loginfo("Delay Over")
                self.flagDelay = 0
                self.mode = 0
                return 1
            else:
                return 0
            


    def Shutdown(self):
        rospy.loginfo("SHUT DOWN")
        self.vel_msg.linear.x = 0
        self.vel_msg.linear.y = 0
        self.vel_msg.linear.z = 0

        self.vel_msg.angular.z = 0
        self.pubSpeed.publish(self.vel_msg)

        self.Servo_control(0)

    def fly_up(self):
        for i in range(50):
            self.vel_msg.linear.z = 1
            self.pubSpeed.publish(self.vel_msg)
            rospy.loginfo("FLY%d", i)
    def land(self):
        for i in range(50):
            self.vel_msg.linear.z = -1
            self.pubSpeed.publish(self.vel_msg)
            rospy.loginfo("FLY%d", i)



    #1s运行一次
    def timer_1s_callback(self,event):
        rospy.loginfo("Position:x: %.3f, y: %.3f, yaw: %.3f, z:%.3f", self.actualPositionX, self.actualPositionY, self.actualPositionYaw, self.actualPositionZ)
        rospy.loginfo("flag:%d", self.flagMovePoint)
        rospy.loginfo("Temper:%d", self.max_temperature)
        if self.sendflag == 1:
            self.ser_bluetooth.write(f"@X{int(self.actualPositionX):04d}Y{int(self.actualPositionY):04d}T0\r\n".encode())
        
    def find_position(self, x, y):

        rectangles = [
            ((60 - 15, 110 - 15), (140 + 15, 200 + 15)),  # 矩形1
            ((200 - 15, 110 - 15), (310 + 15, 200 + 15)), # 矩形2
            ((370 - 15, 50 - 15), (450 + 15, 200 + 15)),  # 矩形3
            ((60 - 15, 260 - 15), (170 + 15, 350 + 15)),  # 矩形4
            ((230 - 15, 260 - 15), (310 + 15, 350 + 15)), # 矩形5
            ((370 - 15, 360 - 15), (450 + 15, 350 + 15))  # 矩形6
        ]
        
        # 遍历矩形区域
        for i, ((x1, y1), (x2, y2)) in enumerate(rectangles):
            if x1 <= x <= x2 and y1 <= y <= y2:
                distances = {
                    1: abs(y - y1),        # 距离下侧
                    2: abs(x - x1),        # 距离左侧
                    3: abs(y2 - y),        # 距离上侧
                    4: abs(x2 - x)         # 距离右侧
                }
                closest_edge = min(distances, key=distances.get)
                
                return (i + 1) * 10 + closest_edge
        
        # 如果不在任何格子里，返回0
        return 0




    #控制主程序
    def run(self):
        self.Detect_Cam = 1
        count = 0
        self.Time_0 = rospy.get_time()
        while not rospy.is_shutdown():
            count += 1
            if self.Time_0 != 0:
                self.Time = rospy.get_time() - self.Time_0
            else:
                self.Time = 0
            # if (count >= 20):
            #     # self.send_blutooth(0)
            #     rospy.loginfo("flag:%d", self.flagMovePoint)
            #     print(self.QRX)
            #     rospy.loginfo("QRCount:%d", self.QRCodeCount)
            #     rospy.loginfo("Temper:%d", self.max_temperature)
            #     count = 0
            
    
            
            try:
                #transform = self.tf_buffer.lookup_transform('map', 'laser_frame', rospy.Time(0))
                transform = self.tf_buffer.lookup_transform('odom', 'laser', rospy.Time(0))
                # 提取位姿数据
                translation = transform.transform.translation
                rotation = transform.transform.rotation

                # 四元数转换为欧拉角
                _, _, yaw = tf.transformations.euler_from_quaternion(
                                (rotation.x, rotation.y, rotation.z, rotation.w))
                self.actualPositionYaw = yaw * 180 / math.pi

                # 获取当前坐标（单位：cm）
                self.actualPositionX = translation.x * 100 + 35
                self.actualPositionY = translation.y * 100 + 35


                if self.find_position(self.actualPositionX, self.actualPositionY) != 0:
                    self.yellow_detect = 1
                    self.green_detect = 1
                else:
                    self.yellow_detect = 0
                    self.green_detect = 0
                #具体控制写在这#
#############################################___CONTROL_CODE_BEGIN___###############################################################
                if self.flagMovePoint == 0 and self.move(35, 35, 169):
                    self.sendflag = 1
                    self.flagMovePoint = 1
                elif self.flagMovePoint == 1 and self.Delay(1):
                    self.flagMovePoint = 2
                elif self.flagMovePoint == 2 and self.move(40, 40, 169):
                    self.flagMovePoint = 3
                elif self.flagMovePoint == 3 and self.move(240, 40, 169, ignore_xy=1):
                    self.flagMovePoint = 4
                elif self.flagMovePoint == 4 and self.move(440, 40, 169):
                    self.flagMovePoint = 5  
                elif self.flagMovePoint == 5 and self.move(440, 120, 169):
                    self.flagMovePoint = 6
                elif self.flagMovePoint == 6 and self.move(240, 120, 169, ignore_xy=1):
                    self.flagMovePoint = 7
                elif self.flagMovePoint == 7 and self.move(40, 120, 169):
                    self.flagMovePoint = 8
                elif self.flagMovePoint == 8 and self.move(40, 200, 169):
                    self.flagMovePoint = 9
                elif self.flagMovePoint == 9 and self.move(240, 200, 169, ignore_xy=1):
                    self.flagMovePoint = 10
                elif self.flagMovePoint == 10 and self.move(440, 200, 169):
                    self.flagMovePoint = 11
                elif self.flagMovePoint == 11 and self.move(440, 280, 169):
                    self.flagMovePoint = 12
                elif self.flagMovePoint == 12 and self.move(240, 280, 169, ignore_xy=1):
                    self.flagMovePoint = 13
                elif self.flagMovePoint == 13 and self.move(40, 280, 169):
                    self.flagMovePoint = 14
                elif self.flagMovePoint == 14 and self.move(40, 360, 169):
                    self.flagMovePoint = 15
                elif self.flagMovePoint == 15 and self.move(240, 360, 169, ignore_xy=1):
                    self.flagMovePoint = 16  
                elif self.flagMovePoint == 16 and self.move(440, 360, 169):
                    self.sendflag = 0
                    self.flagMovePoint = 1001


                #找黄色
                elif self.flagMovePoint == 2000 and self.move(self.yellow_x, self.yellow_y, 169):
                    self.flagMovePoint = 2001
                elif self.flagMovePoint == 2001 and self.move(self.yellow_x, self.yellow_y, 30):
                    self.flagMovePoint = 2002
                    self.yellow_T = self.max_temperature

                    if (self.yellow_T !=0 and self.green_T != 0):
                        if self.yellow_T >= self.green_T:
                            for i in range(10):
                                self.ser_bluetooth.write(f"@X{int(self.yellow_x):04d}Y{int(self.yellow_y):04d}T1\r\n".encode())
                            
                        else:
                            for i in range(10):
                                self.ser_bluetooth.write(f"@X{int(self.green_x):04d}Y{int(self.green_y):04d}T1\r\n".encode())
                elif self.flagMovePoint == 2002 and self.Delay(1):
                    self.flagMovePoint = 2003
                    

                elif self.flagMovePoint == 2003 and self.move(self.yellow_x, self.yellow_y, 169):
                    self.flagMovePoint = self.temp_flag
                    self.green_detect = 1
                #找绿色
                elif self.flagMovePoint == 3000 and self.move(self.green_x, self.green_y, 169):
                    self.flagMovePoint = 3001
                elif self.flagMovePoint == 3001 and self.move(self.green_x, self.green_y, 30):
                    self.flagMovePoint = 3002
                    self.green_T = self.max_temperature

                    if (self.yellow_T !=0 and self.green_T != 0):
                        if self.yellow_T >= self.green_T:
                            for i in range(10):
                                self.ser_bluetooth.write(f"@X{int(self.yellow_x):04d}Y{int(self.yellow_y):04d}T1\r\n".encode())
                            
                        else:
                            for i in range(10):
                                self.ser_bluetooth.write(f"@X{int(self.green_x):04d}Y{int(self.green_y):04d}T1\r\n".encode())
                elif self.flagMovePoint == 3002 and self.Delay(1):
                    self.flagMovePoint = 3003
                    
                                
                elif self.flagMovePoint == 3003 and self.move(self.green_x, self.green_y, 169):
                    self.flagMovePoint = self.temp_flag
                    self.yellow_detect = 1
                    





                #降落
                elif self.flagMovePoint == 1001 and self.move(35, 35, 169):
                    self.flagMovePoint = 1002
                elif self.flagMovePoint == 1002 and self.move(35, 35, 4, ignore_z=1):
                    self.flagMovePoint = 1003
                    self.land()
                    self.land()
                    self.land()
                    self.land()
                    self.land()
                    os.system('gpio write 10 1')
                    os.system('gpio write 13 1')



                
                
                






#############################################___CONTROL_CODE_END___################################################################

                #计算速度
                if self.mode == 0:
                    self.calculate_point_speed()
                elif self.mode == 1:
                    self.calculate_detect_speed(self.Detect_Cam)

                    

                #发布速度,Twist中速度单位为m/s
                self.vel_msg.linear.x = self.resultLinearSpeedX * 0.01
                self.vel_msg.linear.y = self.resultLinearSpeedY * 0.01
                self.vel_msg.linear.z = self.resultLinearSpeedZ * 0.01


                self.vel_msg.angular.z = self.resultAngularSpeedYaw

                # if self.flagland == 1:
                #     self.vel_msg.linear.z = -1
                # if self.flagfly == 1:
                #     self.vel_msg.linear.z = 1
                self.pubSpeed.publish(self.vel_msg)
                

                


            except tf2_ros.TransformException as e:
                # rospy.logwarn("Transform not available: %s", e)
                pass
            #打印调试
            # rospy.loginfo("MIN:%d, MAX:%d", self.min_data, self.max_data)
            #rospy.loginfo("Time:%.3f",self.Time)





            
            # rospy.loginfo("Position:x: %.3f, y: %.3f, yaw: %.3f, z:%.3f", self.actualPositionX, self.actualPositionY, self.actualPositionYaw, self.actualPositionZ)
            # rospy.loginfo("Speed:x: %.3f, y: %.3f, yaw: %.3f, z:%.3f", self.resultLinearSpeedX, self.resultLinearSpeedY, self.resultAngularSpeedYaw, self.resultLinearSpeedZ)
            # rospy.loginfo("flag:%d", self.flagMovePoint)
            # rospy.loginfo("detct:%d", self.detect_flag)
            # #rospy.loginfo("DetectNum:%d", self.detectNum)
            # rospy.loginfo("MOD:%d", self.mode)t
            self.rate.sleep()

#主函数
if __name__ == '__main__':
    try:
        controller = RobotController()
        controller.run()
    except rospy.ROSInterruptException:
        pass


